#ifndef __SENSOR_BRIDGE_H__
#define __SENSOR_BRIDGE_H__

#include "../../../core/core.h"
#include "../../../sensor_handle/sensor_processor.h"

class SensorBridge{
    public:
        SensorBridge(tf2_ros::Buffer* tf_buffer);
        ~SensorBridge();

        // 获取雷达数据 
        bool GetLidarData(LidarScan2D& lidatr_scan_2d);

    private:
        tf2_ros::Buffer* const __tf_buffer;
        boost::shared_ptr<SensorProcessor> __sensor_processor_ptr;
};






#endif